There are some pre-generated corners.csv and corresponding
Kalibr-format yaml files in the test subdirectories. To run
for example a test of the equidistant model:
roslaunch multicam_calibration test_calib.launch type:=equidistant
Then look at the screen output and the calibration output files
generated into the corresponding test subdirectory. Does the
screen output match the correct_output.txt?
Use the make_test_corners.py script to generate test points, specifying
in the calibration file you want to use:
rosrun multicam_calibration make_test_corners.py -o ./corners.csv -f ./equidistant-initial.yaml
You may have to fiddle with some of the parameters in the script that determine the size of the target in world coordinates, the (varying!) distance between camera and target etc.